Title :
Dynamic modeling for two coordinating flexible robots grasping an object
Author :
Eltimsahy, Adel H. ; Chen, Ying
Author_Institution :
Dept. of Electr. Eng., Toledo Univ., OH, USA
Abstract :
The authors discuss the dynamic modeling of two coordinating robots having flexible links. The formulation of the dynamics is conducted analytically using Hamilton´s extended principle. The resultant equations consist of inertial, cariolis, centrifugal, gravitational, and exerted force terms. They are expressed by independent generalized coordinates. The complete model of two coordinating flexible robots grasping an object in terms of a coupled system of ordinary and partial differential equations is established. A finite dimensional model is also developed from this model which decouples the rigid joint motion from the flexible motion
Keywords :
partial differential equations; path planning; position control; robots; Hamilton´s extended principle; cariolis force; centrifugal force; coordinating robots; dynamic modeling; exerted force; finite dimensional model; flexible links; gravitational force; inertial force; partial differential equations; Boundary conditions; Capacitive sensors; Differential equations; Kinetic energy; Lagrangian functions; Manipulator dynamics; Partial differential equations; Potential energy; Robot kinematics; Shape;
Conference_Titel :
Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on
Conference_Location :
Xian
Print_ISBN :
0-7803-0042-4
DOI :
10.1109/ISIE.1992.279545
